ON THE LEARNING CONTROL OF A ROBOT MANIPULATOR

被引：8

作者：

DAWSON, DM

QU, Z

DORSEY, JF

LEWIS, FL

机构：

[1] School of Electrical Engineering, Georgia Institute of Technology, Atlanta, 30332, GA

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1991年 / 4卷 / 01期

关键词：

ROBOTS; CONTROL; LEARNING; TRACKING CONTROL; COMPUTED-TORQUE CONTROL; ROBUSTNESS;

D O I：

10.1007/BF00452101

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors.

引用

页码：43 / 53

页数：11